2009-01-25 00:48:56 +01:00
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/*
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2011-12-09 02:47:48 +01:00
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nuts_bolts.h - Header file for shared definitions, variables, and functions
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2015-02-16 01:36:08 +01:00
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Part of Grbl
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2009-01-25 00:48:56 +01:00
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2015-02-16 01:36:08 +01:00
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Copyright (c) 2011-2015 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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2009-01-25 00:48:56 +01:00
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef nuts_bolts_h
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#define nuts_bolts_h
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2012-02-25 17:06:42 +01:00
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2011-02-18 23:04:12 +01:00
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#define false 0
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#define true 1
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2009-01-25 00:48:56 +01:00
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2015-01-15 06:14:52 +01:00
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// Axis array index values. Must start with 0 and be continuous.
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2012-11-01 16:37:27 +01:00
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#define N_AXIS 3 // Number of axes
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2015-01-15 06:14:52 +01:00
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#define X_AXIS 0 // Axis indexing value.
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2009-01-25 00:48:56 +01:00
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#define Y_AXIS 1
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#define Z_AXIS 2
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2014-08-01 16:29:35 +02:00
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// #define A_AXIS 3
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2009-01-25 00:48:56 +01:00
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2015-01-15 06:14:52 +01:00
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// CoreXY motor assignments. DO NOT ALTER.
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// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
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#ifdef COREXY
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#define A_MOTOR X_AXIS // Must be X_AXIS
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#define B_MOTOR Y_AXIS // Must be Y_AXIS
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#endif
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// Conversions
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2012-11-02 02:48:55 +01:00
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#define MM_PER_INCH (25.40)
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#define INCH_PER_MM (0.0393701)
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2012-12-08 23:00:58 +01:00
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#define TICKS_PER_MICROSECOND (F_CPU/1000000)
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v1.0 Beta Release.
- Tons of new stuff in this release, which is fairly stable and well
tested. However, much more is coming soon!
- Real-time parking motion with safety door. When this compile option
is enabled, an opened safety door will cause Grbl to automatically feed
hold, retract, de-energize the spindle/coolant, and parks near Z max.
After the door is closed and resume is commanded, this reverses and the
program continues as if nothing happened. This is also highly
configurable. See config.h for details.
- New spindle max and min rpm ‘$’ settings! This has been requested
often. Grbl will output 5V when commanded to turn on the spindle at its
max rpm, and 0.02V with min rpm. The voltage and the rpm range are
linear to each other. This should help users tweak their settings to
get close to true rpm’s.
- If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the
spindle speed PWM pin will act like a regular on/off spindle enable
pin. On pin D11.
- BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm
settings require a new settings version, so Grbl will automatically
wipe and restore the EEPROM with the new defaults.
- Control pin can now be inverted individually with a
CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users
to need this, but handy to have.
- Fixed bug when Grbl receive too many characters in a line and
overflows. Previously it would respond with an error per overflow
character and another acknowledge upon an EOL character. This broke the
streaming protocol. Now fixed to only respond with an error after an
EOL character.
- Fixed a bug with the safety door during an ALARM mode. You now can’t
home or unlock the axes until the safety door has been closed. This is
for safety reasons (obviously.)
- Tweaked some the Mega2560 cpu_map settings . Increased segment buffer
size and fixed the spindle PWM settings to output at a higher PWM
frequency.
- Generalized the delay function used by G4 delay for use by parking
motion. Allows non-blocking status reports and real-time control during
re-energizing of the spindle and coolant.
- Added spindle rpm max and min defaults to default.h files.
- Added a new print float for rpm values.
2015-08-28 05:37:19 +02:00
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#define DELAY_MODE_DWELL 0
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#define DELAY_MODE_SAFETY_DOOR 1
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2012-01-06 18:10:41 +01:00
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// Useful macros
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2011-02-11 23:53:58 +01:00
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#define clear_vector(a) memset(a, 0, sizeof(a))
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2012-11-02 02:48:55 +01:00
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#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
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2014-05-26 00:05:28 +02:00
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// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
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2011-02-11 23:53:58 +01:00
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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2011-09-03 23:31:48 +02:00
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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2011-02-11 23:53:58 +01:00
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2012-01-06 18:10:41 +01:00
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// Bit field and masking macros
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#define bit(n) (1 << n)
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2014-07-07 03:05:12 +02:00
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#define bit_true(x,mask) (x) |= (mask)
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#define bit_false(x,mask) (x) &= ~(mask)
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2012-01-06 18:10:41 +01:00
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#define bit_istrue(x,mask) ((x & mask) != 0)
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#define bit_isfalse(x,mask) ((x & mask) == 0)
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2011-02-18 23:08:06 +01:00
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// Read a floating point value from a string. Line points to the input buffer, char_counter
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2012-10-08 23:57:58 +02:00
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// is the indexer pointing to the current character of the line, while float_ptr is
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2011-02-18 23:08:06 +01:00
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// a pointer to the result variable. Returns true when it succeeds
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2014-05-26 00:05:28 +02:00
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uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr);
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2011-02-18 22:59:16 +01:00
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v1.0 Beta Release.
- Tons of new stuff in this release, which is fairly stable and well
tested. However, much more is coming soon!
- Real-time parking motion with safety door. When this compile option
is enabled, an opened safety door will cause Grbl to automatically feed
hold, retract, de-energize the spindle/coolant, and parks near Z max.
After the door is closed and resume is commanded, this reverses and the
program continues as if nothing happened. This is also highly
configurable. See config.h for details.
- New spindle max and min rpm ‘$’ settings! This has been requested
often. Grbl will output 5V when commanded to turn on the spindle at its
max rpm, and 0.02V with min rpm. The voltage and the rpm range are
linear to each other. This should help users tweak their settings to
get close to true rpm’s.
- If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the
spindle speed PWM pin will act like a regular on/off spindle enable
pin. On pin D11.
- BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm
settings require a new settings version, so Grbl will automatically
wipe and restore the EEPROM with the new defaults.
- Control pin can now be inverted individually with a
CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users
to need this, but handy to have.
- Fixed bug when Grbl receive too many characters in a line and
overflows. Previously it would respond with an error per overflow
character and another acknowledge upon an EOL character. This broke the
streaming protocol. Now fixed to only respond with an error after an
EOL character.
- Fixed a bug with the safety door during an ALARM mode. You now can’t
home or unlock the axes until the safety door has been closed. This is
for safety reasons (obviously.)
- Tweaked some the Mega2560 cpu_map settings . Increased segment buffer
size and fixed the spindle PWM settings to output at a higher PWM
frequency.
- Generalized the delay function used by G4 delay for use by parking
motion. Allows non-blocking status reports and real-time control during
re-energizing of the spindle and coolant.
- Added spindle rpm max and min defaults to default.h files.
- Added a new print float for rpm values.
2015-08-28 05:37:19 +02:00
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// Non-blocking delay function used for general operation and suspend features.
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void delay_sec(float seconds, uint8_t mode);
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2012-01-16 02:25:12 +01:00
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// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
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void delay_ms(uint16_t ms);
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2012-02-11 19:59:35 +01:00
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// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
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2012-10-12 16:27:14 +02:00
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void delay_us(uint32_t us);
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2012-02-11 19:59:35 +01:00
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Settings refactoring. Bug fixes. Misc new features.
This is likely the last major change to the v0.9 code base before push
to master. Only two minor things remain on the agenda (CoreXY support,
force clear EEPROM, and an extremely low federate bug).
- NEW! Grbl is now compile-able and may be flashed directly through the
Arduino IDE. Only minor changes were required for this compatibility.
See the Wiki to learn how to do it.
- New status reporting mask to turn on and off what Grbl sends back.
This includes machine coordinates, work coordinates, serial RX buffer
usage, and planner buffer usage. Expandable to more information on user
request, but that’s it for now.
- Settings have been completely renumbered to allow for future new
settings to be installed without having to constantly reshuffle and
renumber all of the settings every time.
- All settings masks have been standardized to mean bit 0 = X, bit 1 =
Y, and bit 2 = Z, to reduce confusion on how they work. The invert
masks used by the internal Grbl system were updated to accommodate this
change as well.
- New invert probe pin setting, which does what it sounds like.
- Fixed a probing cycle bug, where it would freeze intermittently, and
removed some redundant code.
- Homing may now be set to the origin wherever the limit switches are.
Traditionally machine coordinates should always be in negative space,
but when limit switches on are on the opposite side, the machine
coordinate would be set to -max_travel for the axis. Now you can always
make it [0,0,0] via a compile-time option in config.h. (Soft limits
routine was updated to account for this as well.)
- Probe coordinate message immediately after a probing cycle may now
be turned off via a compile-time option in config.h. By default the
probing location is always reported.
- Reduced the N_ARC_CORRECTION default value to reflect the changes in
how circles are generated by an arc tolerance, rather than a fixed arc
segment setting.
- Increased the incoming line buffer limit from 70 to 80 characters.
Had some extra memory space to invest into this.
- Fixed a bug where tool number T was not being tracked and reported
correctly.
- Added a print free memory function for debugging purposes. Not used
otherwise.
- Realtime rate report should now work during feed holds, but it hasn’t
been tested yet.
- Updated the streaming scripts with MIT-license and added the simple
streaming to the main stream.py script to allow for settings to be sent.
- Some minor code refactoring to improve flash efficiency. Reduced the
flash by several hundred KB, which was re-invested in some of these new
features.
2014-07-26 23:01:34 +02:00
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// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
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2014-05-26 00:05:28 +02:00
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float hypot_f(float x, float y);
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2009-01-25 00:48:56 +01:00
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#endif
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